public static void CorvusManagerTestPos()
{
CorvusManager corman = new CorvusManager("COM6", 57600);
Console.WriteLine("Getting position...");
String s = null;
if (corman.pos(ref s))
{
Console.WriteLine("Position successfully read: " + s);
}
else
{
Console.WriteLine("Impossible to read position.");
}
Console.WriteLine("Moving Origin to point 3, 2, -1.5");
if (corman.setpos(3, 2, (float)1.5))
{
Console.WriteLine("Origin Successfully moved!");
}
else
{
Console.WriteLine("Faled to move origin!");
}
Console.WriteLine("Getting new position.");
if (corman.pos(ref s))
{
Console.WriteLine("New position is " + s);
}
else
{
Console.WriteLine("Impossible to read new position.");
}
Console.WriteLine("Moving to origin");
if (!corman.move(0, 0, 0))
{
Console.WriteLine("Impossible to move to origin");
}
corman.Close();
}
// ----------------------------------------------------------------------
// Set origin -----------------------------------------------------------
public void SetOriginButton_Click(object sender, EventArgs ea)
{
// check whether port is open
if (!IsCMSet)
{
MessageBox.Show(
"Not Connected to Corvus Platform through serial port",
"No port connection error",
MessageBoxButtons.OK,
MessageBoxIcon.Error
);
return;
}
// get origin coordinates from user input
float x = (float)this.OriginX.Value;
float y = (float)this.OriginY.Value;
float z = (float)this.OriginZ.Value;
// send position to Corvus platform
CM.setpos(x, y, z);
this.updateCorvusConnectionStatus();
}